#include <ros/ros.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char **argv) {

  ros::init(argc, argv, "mycar_teleop_simple");

  ros::NodeHandle n_;
  geometry_msgs::Twist cmdvel_;
  ros::Publisher pub_ = n_.advertise<geometry_msgs::Twist>("cmd_vel", 1);

  ros::Rate loop_rate(1);

  cmdvel_.linear.x = 0.1;
  cmdvel_.angular.z = 0.2;

  while (ros::ok()) {
    pub_.publish(cmdvel_);
    ros::spinOnce();
    loop_rate.sleep();
  }

  cmdvel_.linear.x = 0.0;
  cmdvel_.angular.z = 0.0;
  pub_.publish(cmdvel_);


  return 0;
}